Head-navigated locomotion of a snake-like robot for its autonomous obstacle avoidance | |
Wu XD(吴小东); Ma SG(马书根)![]() | |
作者部门 | 机器人学研究室 |
会议名称 | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 |
会议日期 | October 18-22, 2010 |
会议地点 | Taipei, Taiwan |
会议录名称 | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings |
出版者 | IEEE Computer Society |
出版地 | Piscataway, NJ, USA |
2010 | |
页码 | 401-406 |
收录类别 | EI ; CPCI(ISTP) |
EI收录号 | 20110313602752 |
WOS记录号 | WOS:000287672000135 |
产权排序 | 2 |
ISSN号 | 2153-0858 |
ISBN号 | 978-1-4244-6675-7 |
摘要 | Inspired from the natural motion of snakes, a head-navigated locomotion is proposed for snake-like robots in this paper. Different from the traditional serpentine motion, the head of the snake-like robot would always maintain its direction along the forward direction of the whole robot. By utilizing this particular characteristic, the obstacles in front of the undulatory motion could be detected conveniently by a distance sensor installed on the head module. Based on the analysis of the configuration of the snake-like robot in the head-navigated locomotion, CPG-based control is introduced for the control system. Two kinds of control strategies for the realization of the automatic obstacle avoidance are proposed. Both simulation and experiment have been carried out to verify the proposed motion pattern. |
语种 | 英语 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.sia.cn/handle/173321/20061 |
专题 | 机器人学研究室 |
通讯作者 | Wu XD(吴小东) |
作者单位 | 1.Department of Robotics, Ritsumeikan University, 525-8577 Shiga, Japan 2.Shenyang Institute of Automation, CAS, China |
推荐引用方式 GB/T 7714 | Wu XD,Ma SG. Head-navigated locomotion of a snake-like robot for its autonomous obstacle avoidance[C]. Piscataway, NJ, USA:IEEE Computer Society,2010:401-406. |
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